Based partly on definitions in CHAMBERS English Dictionary
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Act		something done or to do something
		(an Act is composed of Actions)
		(A_Beg is an Act composed of Actions)
		An Act runs through once.
Action		a particular part of an Act, eg stand-up
		(ie the BOS primitives).
Activity	Actions done under a particular objective-behavioural
		frame-work, eg running - 
			where the objective is to run -
				for a time or distance
				or until tired or hungry etc
		(so Activities are repeated Actions 
			or, on a longer timescale, repeated Acts)
		(eg A_FBump is an Activity, 
			it is also a Behavioural Activity).
Application	a thing applied,
		for a robot a set of Actions, Activities, Behaviours

Behave		be +, have =to detain, to restrain
		to Act according to a particular set of rules
		to Act according to social-rules
		to apply Applications according to social-rules
Behaviour	behaving according to a particular set of rules
		behaving according to a particular set of social-rules.
		(A_FbumpRI1, A_FbumpLI2, A_FbumpBI3 are Behaviours
		instigated by Behavioural rules in A_FBump)

Place		something flat - (where objects will stay)
Play		to have freedom of movement

Pose		pause - standing still - the time between movements
Post		something placed 
Posture		the attitude/configuration of the body during a Pose


During writing of the software it bothered me that 'behaviours' is 
used rather loosely by the robotics community but the routines which 
use the ultrasonic sensor were called 'behaviours' in line with their 
terminology.

What are termed 'Ultrasonic Behaviours' should properly be termed 
'Ultrasonic Behavioural-Activities' where the particular actions
instigated by the Behavioural rules are the Behaviours.

The Ultrasonic-routines and Activities using the Bump sensors (feelers)
could be written to update 'comfort/wellbeing' variables which then 
could be used as the basis for more complex behaviours.

David Buckley September 2005
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